Computation of Configuration-Space Obstacles Using the Fast Fourier Transform
نویسنده
چکیده
منابع مشابه
Computation of Configuration-Space Obstacles Using the Fast Fourier Tkansform
Thh paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms. The method derives from the observation that, when the robot is a rigid object that can only translate, the configuration space is a convolution of the workspace and the robot. This convolution is computed with the use of the Fast Fourier Transform (FFT) algorithm. ...
متن کاملComputation of Robot Configuration and Workspaces via the Fourier Transform on the Discrete-Motion Group
We apply the Fourier transform on the discrete-motion group to the problem of computing the configuration-space obstacles of mobile robots which move among static obstacles, the problem of finding the workspace density of binary manipulators with many actuators, and the problem of determining workspace boundaries of manipulators with continuous-motion actuators. We develop and implement Fourier...
متن کاملRation-space Obstacles Using the Fast Fourier Transform
This paper presents a new method for computing the connguration-space map of obstacles that is used in motion-planning algorithms. The method derives from the observation that, when the robot is a rigid object that can only translate, the connguration space is a convolution of the workspace and the robot. This convolution is computed with the use of the Fast Fourier Transform (FFT) algorithm. T...
متن کاملFast Obstacle Evaluation of the Configuration Space for a Construction Towercrane
In this paper it is shown a practical method with lets evaluate the full set of crane configurations that produce collisions between the construction environment and the crane and its load. The method is based on a sound mathematical formalism so the feasibility of the results is guaranteed. Moreover, a suitable application of the formalism is performed in this work by means of choosing a suita...
متن کاملObstacle evaluation of the configuration space for cylindrical manipulators
In this paper it is shown a practical method wich lets evaluate the full set of robot configurations that produce collisions between the environment and the cylindrical manipulator. The method is based on a sound mathematical formalism so the feasibility of the results is guaranteed. The application of the formalism is performed by means of choosing a suitable coordinate functions, in the works...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 11 شماره
صفحات -
تاریخ انتشار 1993